
package edu.wpi.first.wpilibj.templates.commands;

/**
 *
 * @author Jarrod Risley
 */
public class ManualWristDrive extends CommandBase {

    public ManualWristDrive() {
        // Use requires() here to declare subsystem dependencies
        // eg. requires(chassis);
        requires(intake);
    } // end ExampeCommand Constructor

    // Called just before this Command runs the first time
    protected void initialize() {
    } // end initialize

    // Called repeatedly when this Command is scheduled to run
    protected void execute() {
        
        intake.setWristPosition(intake.getSetpoint() + oi.getCoDriverController().scale(oi.getCoDriverController().getLeftY(), 1));
        System.out.println("Current Wrist Position: " + intake.getLocation());
        
    } // end execute

    // Make this return true when this Command no longer needs to run execute()
    protected boolean isFinished() {
        return false;
    }

    // Called once after isFinished returns true
    protected void end() {
    }

    // Called when another command which requires one or more of the same
    // subsystems is scheduled to run
    protected void interrupted() {
    }
}
